sfm

gtsam/sfm/DsfTrackGenerator.h

@@ -43,13 +43,13 @@ struct Keypoints {
 
   // Optional scale of the detections, of shape N.
   // Note: gtsam::Vector is typedef'd for Eigen::VectorXd.
-  boost::optional<gtsam::Vector> scales;
+  std::optional<gtsam::Vector> scales;
 
   /// Optional confidences/responses for each detection, of shape N.
-  boost::optional<gtsam::Vector> responses;
+  std::optional<gtsam::Vector> responses;
 
   Keypoints(const Eigen::MatrixX2d& coordinates)
-      : coordinates(coordinates){};  // boost::none
+      : coordinates(coordinates){};  // std::nullopt
 };
 
 using KeypointsVector = std::vector<Keypoints>;

gtsam/sfm/SfmData.cpp

@@ -424,8 +424,8 @@ NonlinearFactorGraph SfmData::generalSfmFactors(
 
 /* ************************************************************************** */
 NonlinearFactorGraph SfmData::sfmFactorGraph(
-    const SharedNoiseModel &model, boost::optional<size_t> fixedCamera,
-    boost::optional<size_t> fixedPoint) const {
+    const SharedNoiseModel &model, std::optional<size_t> fixedCamera,
+    std::optional<size_t> fixedPoint) const {
   NonlinearFactorGraph graph = generalSfmFactors(model);
   using noiseModel::Constrained;
   if (fixedCamera) {

gtsam/sfm/SfmData.h

@@ -102,14 +102,14 @@ struct GTSAM_EXPORT SfmData {
    * Note: pose keys are simply integer indices, points use Symbol('p', j).
    *
    * @param model a noise model for projection errors
-   * @param fixedCamera which camera to fix, if any (use boost::none if none)
-   * @param fixedPoint which point to fix, if any (use boost::none if none)
+   * @param fixedCamera which camera to fix, if any (use std::nullopt if none)
+   * @param fixedPoint which point to fix, if any (use std::nullopt if none)
    * @return NonlinearFactorGraph
    */
   NonlinearFactorGraph sfmFactorGraph(
       const SharedNoiseModel& model = noiseModel::Isotropic::Sigma(2, 1.0),
-      boost::optional<size_t> fixedCamera = 0,
-      boost::optional<size_t> fixedPoint = 0) const;
+      std::optional<size_t> fixedCamera = 0,
+      std::optional<size_t> fixedPoint = 0) const;
 
   /// @}
   /// @name Testable

gtsam/sfm/ShonanGaugeFactor.h

@@ -56,7 +56,7 @@ public:
    * the Jacobian will be multiplied with 1/sigma = sqrt(gamma).
    */
   ShonanGaugeFactor(Key key, size_t p, size_t d = 3,
-                    boost::optional<double> gamma = boost::none)
+                    std::optional<double> gamma = {})
       : NonlinearFactor(KeyVector{key}) {
     if (p < d) {
       throw std::invalid_argument("ShonanGaugeFactor must have p>=d.");
@@ -103,4 +103,4 @@ public:
 };
 // \ShonanGaugeFactor
 
-} // namespace gtsam
+} // namespace gtsam